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WO1996039321A1 - Systeme de direction a leviers - Google Patents

Systeme de direction a leviers Download PDF

Info

Publication number
WO1996039321A1
WO1996039321A1 PCT/US1996/008151 US9608151W WO9639321A1 WO 1996039321 A1 WO1996039321 A1 WO 1996039321A1 US 9608151 W US9608151 W US 9608151W WO 9639321 A1 WO9639321 A1 WO 9639321A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
wheel
actuator
computer
recited
Prior art date
Application number
PCT/US1996/008151
Other languages
English (en)
Inventor
David A. Renfroe
Original Assignee
University Of Arkansas, N.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University Of Arkansas, N.A. filed Critical University Of Arkansas, N.A.
Priority to AU59588/96A priority Critical patent/AU5958896A/en
Publication of WO1996039321A1 publication Critical patent/WO1996039321A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0418—Electric motor acting on road wheel carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/14—Steering gears hydraulic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
    • B62D5/12—Piston and cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins

Definitions

  • the present invention relates to steering systems for wheeled vehicles, particularly such vehicles with at least two steerable wheels under manual control of a driver and in which the steerable wheels are independently suspended from the vehicle body frame. More generally, the invention is applicable to steering systems for wheeled vehicles with at least two steerable wheels.
  • the necessary forces for causing each of the steerable wheels to properly respond to the steering control provided by the driver is effectuated between the vehicle body and the (usually independently suspended) steerable wheel control arm by a fluid pressure or electrically powered actuator.
  • the coordination of the left wheel and right wheel motion is attained, not with the usual mechanical link between steering control arms for the wheels, but rather by two distinct control signals provided to each of the actuators.
  • An advantage of the system of the invention is that the necessity for a conventional steering column is eliminated along with the safety hazard that such columns present for the driver in the event of a mishap. Another advantage is that it facilitates a very large angle of vertical travel for independent suspension arms which is desirable for some vehicles and virtually impossible to obtain in conventional steering systems.
  • the present invention is in sharp contrast to the traditional wheeled vehicle steering system.
  • the structure, adjustment, and alignment of the steering mechanism of a wheeled vehicle is a somewhat complicated matter involving various relationships of each steerable wheel axle to the vehicle body referred to as caster, camber, toe-in, Ackerman angle and the like. No attempt is made here to present a detailed discussion of all these factors, except as they relate to the improvements of the present invention.
  • each front wheel is provided with a stub axle which is rotatable about a vertically disposed king-pin. Accordingly, it is necessary to provide means by which the front wheels turn to the left or turn to the right together in a coordinated fashion. It was long ago determined that optimum steering was not achieved with strictly parallel motion of the front wheels because the outwardly turning wheel is closer to the vehicle turning center than the inwardly turning wheel and needs to rotate through a greater angle. This refinement and provision for steering control is referred to as the Ackerman angle provision.
  • the present invention eliminates reliance upon a track rod or other direct mechanical linkage between the left and right steerable wheels by causing the turning motion of each wheel to be effected by its own independent actuator.
  • the hand lever actuated manual steering system of the present invention provides the advantage of removing the necessity of a steering wheel .
  • the control of the vehicle may be accomplished with one or two hands. 2 .
  • Prior Art Prior Art .
  • Patent Nd. 5,094,312 to Hakel dated March 10, 1992 shows a vehicle steering system in which the left and right steering control arms for the front wheels are both operated by a single double-acting hydraulic piston with oppositely directed piston rods each coupled by a mechanical link to a respective steering control arm.
  • Patent No. 5,090,512 to Mullet et al . , dated February 25, 1992 (U.S. Cl. 180/236) like the patent to Hakel, relies on a direct mechanical connection from the left side to the right side of the steering system including a rotatable shaft and cam pulleys operating a cable arrangement for wheel steering.
  • Patent No. 4,006,664 to Brown has hydraulic operated steering, but like the patent to Hakel has only a single cylinder for left and right wheels, the coordinated motion of which must be provided by a linkage connecting left and right wheels with the single cylinder provided for their operation.
  • Patent No. 2,757,014 to Schmitz, dated July 31, 1956 discloses a steering system for a tractor having pairs of control cylinders and operating cylinders for providing steering motion to the respective front wheels which is independently controlled.
  • the objective of the Schmitz system is solely to arrive at an extreme or limit position for the wheels in which the left wheel is turned by ninety degrees and the right wheel is turned by about fifty degrees (or vice versa) . Any slight steering movement of the wheel 24 will be transmitted to the wheels 13 and 14 equally.
  • FIGURE 1 is a schematic diagram of a steering lever operated hydraulic steering control system for a wheeled vehicle according to the invention.
  • FIGURE 1 a steering system 611 for a vehicle with a right front steerable wheel 613 and a left front steerable wheel 615 is shown. Wheels 613 and 615 are mounted so that they are rotatable about a generally vertical axis to turn the vehicle to the left or to the right.
  • the steering system according to the invention shown diagrammatically in FIGURE 1 is particularly adapted to the use of electrical actuators for providing steering motion to the wheels 613 and 615 but the apparatus of FIGURE 1 could be modified to use hydraulic actuators or servomotors.
  • Actuator 631 and actuator 641 preferably take the form of electrical servomotors with respective actuator rods 633 and 643 for imparting motion to wheels 613 and 615.
  • a steering angles computer 660 provides digital or analog signals to actuators 631 and 641 through signal transmission lines 635 and 645 respectively. Transmission lines 635 and 645 will normally be physical conductors dedicated to transmitting control signals to actuators 631 and 641. As indicated the arrows on lines 635 and 645, the primary information flow is from steering angles computer 660 to actuators 631 and 641, but this does not preclude the use of feedback signals or other signals propagating in the opposite direction.
  • the Ackerman angle relation generally desired for the outside wheel (OW) and the inside wheel (IW) is:
  • Actuator rod 633 is provided with a force sensor 630 and actuator 643 is provided with a force sensor 640.
  • Force sensors 630 and 640 may utilize a strain gage apparatus to provide an electrical signal representative of the force imparted to wheels 613 and 615 by actuators 631 and 641 or on the other hand road contact forces on wheels 613 and 615 transmitted back to actuators 631 and 641.
  • Electrical transmission lines 637 and 647 convey the signals from force sensors 630 and 640. back to the steering angles computer 660.
  • the steering angles computer 660 may also receive vehicle velocity and acceleration from a velocity and acceleration package 650.
  • Vehicle velocity may be obtained from wheel rotation rate or other data and accelerations both lateral and longitudinal may be obtained from accelerometers, gyroscopes, or other well known sensing devices.
  • Availability of velocity and acceleration data enables the steering angles computer 660 to generate warning of hazardous steering motions, skidding or incipient skidding, and, if desired, could initiate corrective corrective steering action to regain control of the vehicle.
  • the steering levers 671 and 673 shown in FIGURE 1 are indicated somewhat schematically as they can take numerous forms. They may be substantially the same as shown in FIGURE 1 or may be pivoted about the lateral horizontal axis. Steering levers 671 and 673 are pivotally secured relative to the vehicle frame by brackets 681 and 683. As steering lever 671 is moved by the vehicle driver, its motion is imparted to actuation rod 653 which is free to reciprocate with respect to position sensing device 651 connected by signal transmission line 659 to steering angles computer 660.
  • Preferably formed integrally with position sensor 651 is an artificial feel device 655 and these two devices are restrained relative to the vehicle frame by bracket 685. Position signals from position sensor 651 are transmitted to steering angles computer 660 over signal transmission line 659, and artificial feel signals derived from force sensor 630 are transmitted by computer 660 to artificial feel element 655 by means of signal transmission line 675.
  • a major advantage of the steering lever type system over the steering wheel type system resides in the fact that the space forward of the driver position is cleared of all obstacles related to the steering system, thereby improving crash safety of the vehicle.
  • Another less apparent advantage of the steering lever system is that, with appropriate vehicle body design and steering lever positioning, the vehicle could be entered from directly in front rather than from the side. This releases constraints on the design of the roll-over cage for the body associated with permitting side entry into and exit from the vehicle. Typically, side entry into the vehicle is difficult at best and a front entry vehicle would be substantially more accessible.
  • left steering lever 673 is pivotally mounted relative to the vehicle frame by bracket 683 and the position of actuation rod 663 is sensed by position sensor 661 the signal of which is transmitted over transmission line 669 to the steering angles computer 660.
  • Left wheel artificial feel signals are transmitted from computer 660 over signal transmission line 677 to artificial feel element 665 which, together with position sensor 661, is restrained relative to the vehicle body by a pivotal connection at bracket 687.
  • the artificial feel elements 655 and 665 or other means may be relied upon to coordinate the motions of steering levers 671 and 673 to be substantially equal and opposite, or one may choose not to constrain the relative motions of steering levers 671 and 673 relative to one another, but to take the difference in the position of the steering levers to be the indication of vehicle turning control from which wheel-steer angles are computed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

Dans ce système de direction destiné à un véhicule tous terrains à quatre roues à suspensions indépendantes, les forces nécessaires à la commande directionnelle proviennent de la pression d'un fluide ou d'actionneurs électriques (631, 641) montés parallèlement au bras de suspension reliant le chassis de véhicule et un bras de commande de roue, le conducteur commmandant alors la direction en manipulant un ou des leviers gauche et/ou droit (671, 673), ce qui évite de devoir disposer un volant et une colonne de direction devant lui. Les actionneurs de direction (631, 641) sont indépendants et il n'existe aucune tringlerie coordonnant leurs angles de rotation mais on obtient cette coordination étroite des angles de rotation de roues, qui donne entre celles-ci une relation d'angle de rotation, par une liaison non linéaire ou par une commande informatisée (660) des actionneurs électriques telle que ces derniers reçoivent avec cette liaison non linéaire des signaux séparés pour assurer la relation souhaitée entre les angles directionnels des roues (613, 615).
PCT/US1996/008151 1995-06-06 1996-05-30 Systeme de direction a leviers WO1996039321A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU59588/96A AU5958896A (en) 1995-06-06 1996-05-30 Lever steering system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/466,375 1995-06-06
US08/466,375 US5653304A (en) 1994-04-20 1995-06-06 Lever steering system

Publications (1)

Publication Number Publication Date
WO1996039321A1 true WO1996039321A1 (fr) 1996-12-12

Family

ID=23851517

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1996/008151 WO1996039321A1 (fr) 1995-06-06 1996-05-30 Systeme de direction a leviers

Country Status (3)

Country Link
US (1) US5653304A (fr)
AU (1) AU5958896A (fr)
WO (1) WO1996039321A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1122150A1 (fr) * 2000-02-04 2001-08-08 Renault V.I. Dispositif de servodirection de véhicule automobile
DE102006008668A1 (de) * 2006-02-24 2007-08-30 Audi Ag Lenksystem und Verfahren zum Bewegen von Rädern eines zweispurigen Fahrzeugs
FR2909064A1 (fr) * 2006-11-28 2008-05-30 Renault Sas Procede et dispositif de controle des roues directrices d'un vehicule a roues decouplees.
EP2397354A1 (fr) * 2010-06-15 2011-12-21 Scheuerle Fahrzeugfabrik GmbH Véhicule poids lourd avec entraînement par volant d'inertie
CN104553665A (zh) * 2015-01-21 2015-04-29 山东美晨科技股份有限公司 一种随动转向桥复合悬架气路控制系统
CN107985392A (zh) * 2017-12-07 2018-05-04 中联重科安徽工业车辆有限公司 叉车转向系统及具有其的叉车
WO2018095674A1 (fr) * 2016-11-24 2018-05-31 Zf Friedrichshafen Ag Procédé pour commander un dispositif de direction d'un véhicule, contrôleur et système de direction

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US5931244A (en) * 1996-10-09 1999-08-03 Board Of Trustee Of University Of Arkansas Cable steering system
JP3554841B2 (ja) * 1997-02-07 2004-08-18 光洋精工株式会社 自動車の舵取装置
DE19827781C2 (de) * 1998-06-23 2000-05-18 Danfoss As Lenkeinrichtung für ein Fahrzeug
DE19833189A1 (de) * 1998-07-23 2000-01-27 Bayerische Motoren Werke Ag Lenksystem für ein Fahrzeug
DE19839351C2 (de) * 1998-08-28 2000-07-13 Daimler Chrysler Ag Vorrichtung zum Lenken eines Kraftfahrzeuges mit wenigstens 2 Stellteilen
US6363305B1 (en) 1999-09-17 2002-03-26 Delphi Technologies, Inc. Steer-by-wire system
US6808041B2 (en) 2000-02-11 2004-10-26 Delphi Technologies, Inc. Method and system for providing secondary vehicle directional control through braking
EP1125826A3 (fr) * 2000-02-11 2003-01-08 Delphi Technologies, Inc. Commande d'actuateurs de direction indépendants améliorant la stabilité et le freinage du véhicule
US6681881B2 (en) * 2000-08-11 2004-01-27 Visteon Global Technologies, Inc. Steer-by-wire system with first and second steering actuators
WO2002022397A1 (fr) * 2000-09-17 2002-03-21 Delphi Technologies, Inc. Systeme de direction par cable
US6625530B1 (en) 2000-11-06 2003-09-23 Delphi Technologies, Inc. Feed forward—feed back control for steer-by-wire system
JP2002160642A (ja) * 2000-11-28 2002-06-04 Honda Motor Co Ltd 車両の運転操作装置
US6548969B2 (en) 2000-12-29 2003-04-15 Delphi Technologies, Inc. Redundant steer-by-wire system
US6678594B2 (en) 2001-02-02 2004-01-13 Delphi Technologies, Inc. User-configurable steering control for steer-by-wire systems
US6709013B2 (en) * 2001-03-21 2004-03-23 University Of Arkansas Land vehicle with lever steering
WO2002102640A2 (fr) 2001-06-19 2002-12-27 Delphi Technologies, Inc. Actionneur de roue de direction guide par cables
US6622813B2 (en) 2001-07-26 2003-09-23 Delphi Technologies, Inc. Hybrid steer-by-wire with mechanical link
US6687588B2 (en) 2001-09-14 2004-02-03 Delphi Technologies, Inc. Compensation using position for improved feel and stability in a steering system
US6568697B1 (en) * 2001-12-13 2003-05-27 Meritor Heavy Vehicle Technology, Llc Independent steering and actuator
US6561307B1 (en) * 2001-12-28 2003-05-13 Meritor Heavy Vehicle Technology, Llc Independent suspension steering system
US20030150366A1 (en) * 2002-02-13 2003-08-14 Kaufmann Timothy W. Watercraft steer-by-wire system
US6868657B2 (en) * 2002-05-15 2005-03-22 Deere & Company Mowing machines with ergonomic hand control levers
DE10256307A1 (de) * 2002-12-03 2004-06-24 O&K Orenstein & Koppel Ag Hydraulische Lenkung für Fahrzeuge
US7073822B1 (en) 2003-03-06 2006-07-11 Renfroe David A Flexible cable lever arm steering system apparatus and method
US6929086B1 (en) 2004-02-18 2005-08-16 Visteon Global Technologies, Inc. Motor vehicle steering system
US7389849B2 (en) * 2005-03-21 2008-06-24 Trw Automotive U.S. Llc Steering apparatus with plural motors
US7793951B2 (en) * 2005-04-07 2010-09-14 Traxxas Lp Integrated center point steering mechanism for a model vehicle
US20070144159A1 (en) * 2005-12-05 2007-06-28 Sjolin Donald E Control system for controlling a peripheral device mounted to a vehicle
USD631395S1 (en) 2008-05-08 2011-01-25 Polaris Industries Inc. Utility vehicle
US8079602B2 (en) 2008-06-06 2011-12-20 Polaris Industries Inc. Suspension systems for a vehicle
US7950486B2 (en) * 2008-06-06 2011-05-31 Polaris Industries Inc. Vehicle
WO2013095420A1 (fr) 2011-12-21 2013-06-27 Volvo Group North America, Llc Système de direction double destiné à un véhicule
DE102012110988B4 (de) * 2012-11-15 2021-12-23 Hubtex Maschinenbau Gmbh & Co. Kg Lenksystem für ein Flurförderzeug und Flurförderzeug
US9517673B2 (en) * 2014-07-18 2016-12-13 GM Global Technology Operations LLC Vehicle and a suspension system for the vehicle
TWI572502B (zh) * 2014-10-14 2017-03-01 財團法人金屬工業研究發展中心 輔助轉向機構及電動車
CN113183701B (zh) 2015-05-15 2024-08-13 北极星工业有限公司 多用途车辆
USD822125S1 (en) 2015-09-19 2018-07-03 Traxxas, LP Combined steering block and C-hub for a model vehicle
US9884647B2 (en) 2015-12-10 2018-02-06 Polaris Industries Inc. Utility vehicle
WO2019140026A1 (fr) 2018-01-10 2019-07-18 Polaris Industries Inc. Véhicule
US10946736B2 (en) 2018-06-05 2021-03-16 Polaris Industries Inc. All-terrain vehicle
CA3136964A1 (fr) 2019-04-30 2020-11-05 Polaris Industries Inc. Vehicule comprenant un bloc d'entrainement d'essieu
US11260803B2 (en) 2019-07-26 2022-03-01 Polaris Industries Inc. Audio system for a utility vehicle
CN110803217A (zh) * 2019-10-25 2020-02-18 广州电力机车有限公司 一种自卸车液压动力转向系统
US12187127B2 (en) 2020-05-15 2025-01-07 Polaris Industries Inc. Off-road vehicle
US11691674B2 (en) 2020-05-15 2023-07-04 Polaris Industries Inc. Off-road vehicle
HUE071844T2 (hu) * 2020-11-07 2025-09-28 Contemporary Amperex Technology Hong Kong Ltd Kormányozó mechanizmus, jármû és berendezés és eljárás kormányozó mechanizmus elõállítására
US12017699B2 (en) * 2021-02-19 2024-06-25 Caterpillar Inc. System for detecting failure of an Ackerman-type steering mechanism
MX2023006716A (es) 2022-06-13 2023-12-14 Polaris Inc Tren de potencia para vehiculo utilitario.
US12391199B2 (en) 2022-11-11 2025-08-19 Polaris Industries Inc. Utility vehicle fluid containment system

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1122150A1 (fr) * 2000-02-04 2001-08-08 Renault V.I. Dispositif de servodirection de véhicule automobile
FR2804647A1 (fr) * 2000-02-04 2001-08-10 Renault Vehicules Ind Dispositif de servodirection de vehicule automobile
DE102006008668A1 (de) * 2006-02-24 2007-08-30 Audi Ag Lenksystem und Verfahren zum Bewegen von Rädern eines zweispurigen Fahrzeugs
FR2909064A1 (fr) * 2006-11-28 2008-05-30 Renault Sas Procede et dispositif de controle des roues directrices d'un vehicule a roues decouplees.
EP2397354A1 (fr) * 2010-06-15 2011-12-21 Scheuerle Fahrzeugfabrik GmbH Véhicule poids lourd avec entraînement par volant d'inertie
CN104553665A (zh) * 2015-01-21 2015-04-29 山东美晨科技股份有限公司 一种随动转向桥复合悬架气路控制系统
WO2018095674A1 (fr) * 2016-11-24 2018-05-31 Zf Friedrichshafen Ag Procédé pour commander un dispositif de direction d'un véhicule, contrôleur et système de direction
CN107985392A (zh) * 2017-12-07 2018-05-04 中联重科安徽工业车辆有限公司 叉车转向系统及具有其的叉车

Also Published As

Publication number Publication date
AU5958896A (en) 1996-12-24
US5653304A (en) 1997-08-05

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